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Closed-loop compensation of kinematic error in harmonic drives for precision control applications

DSpace at IIT Bombay

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Title Closed-loop compensation of kinematic error in harmonic drives for precision control applications
 
Creator GANDHI, PS
GHORBEL, FH
 
Subject harmonic drives
kinematic error
lyapunov stability
regulation
tracking
 
Description In this paper, we present nonlinear control algorithms to compensate for kinematic error in harmonic drives, thus forming a solid basis to improve their performance in precision positioning applications. Kinematic error, defined as deviation between expected and actual output positions, influences performance by producing static positioning error and inducing dynamic vibration effects. Its compensation is difficult because of its nonlinear behavior and dependence on drive type, assembly, environmental conditions, and drive load. The Lyapunov-based closed-loop control algorithms presented in this paper compensate for the kinematic error irrespective of its form in setpoint and trajectory tracking applications (Rice University patent pending). Simulation and experimental results obtained with a dedicated harmonic drive test setup verify the effectiveness of the proposed controllers.
 
Publisher IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
 
Date 2011-07-31T22:23:04Z
2011-12-26T12:53:10Z
2011-12-27T05:40:22Z
2011-07-31T22:23:04Z
2011-12-26T12:53:10Z
2011-12-27T05:40:22Z
2002
 
Type Article
 
Identifier IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 10(6), 759-768
1063-6536
http://dx.doi.org/10.1109/TCST.2002.804119
http://dspace.library.iitb.ac.in/xmlui/handle/10054/8257
http://hdl.handle.net/10054/8257
 
Language en